Monitor and control system for a harvester

ABSTRACT

A harvester including a frame supported by a drive assembly for movement along a support surface, a head unit coupled to the harvester and configured to selectively harvest crop material, a camera coupled to the frame and configured to generate one or more images of a field of view, and a controller in operable communication with the camera and the head unit, where the controller is configured to determine one or more crop attributes based at least in part on the one or more images produced by the camera.

FIELD OF THE INVENTION

The present disclosure relates to a harvester and more specifically to aharvester having one or more control systems to adjust the operatingparameters of the device.

BACKGROUND

During the harvesting process, the operator of the harvester is requiredto constantly observe their surroundings and adjust the harvesteroperating parameters based on those observations. Such adjustments andobservations can be difficult and lend themselves to inaccuracies bothin the initial observations and the determined adjustments.

SUMMARY

In one implementation, a harvester including a frame supported by adrive assembly for movement along a support surface, a head unit coupledto the harvester and configured to selectively harvest crop material, acamera coupled to the frame and configured to generate one or moreimages of a field of view, and a controller in operable communicationwith the camera and the head unit, where the controller is configured todetermine one or more crop attributes based at least in part on the oneor more images produced by the camera.

In another implementation, a method of operating a harvester includingproviding a harvester with a frame, a head unit coupled to the frame,and an unload assembly having a material output that is movable withrespect to the frame. The method further including establishing a firstreference frame fixed relative to the frame, mounting a camera to theharvester having a field of view, wherein the camera is configured tooutput an image representative of the field of view, identifying areference point within the image, and calculating the location of thereference point relative to the first frame of reference.

Other aspects of the disclosure will become apparent by consideration ofthe detailed description and accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a side view of a harvester with one or more control systems.

FIG. 2 is a top view of the harvester of FIG. 1 with the elevator in afirst dump position.

FIG. 3 is a top view of the harvester of FIG. 1 with the elevator in asecond dump position.

FIGS. 4-14 illustrate the first field of view taken with the harvesterin various operating configurations.

FIG. 15 illustrates a forward view of the cab of a harvester showingcrop material in a −90 degree lay orientation with a 0 degree lay angle.

DETAILED DESCRIPTION

Before any embodiments of the disclosure are explained in detail, it isto be understood that the disclosure is not limited in its applicationto the details of the formation and arrangement of components set forthin the following description or illustrated in the accompanyingdrawings. The disclosure is capable of supporting other implementationsand of being practiced or of being carried out in various ways.

During harvesting operations, multiple sensors must be used to providefeedback to the control system and the operator. Harvesting machineoperators are responsible for many machine settings and configurationsin order to harvest optimally and safely. Sensors can provide feedbackbut some specific pieces of information require multiple sensorsmeasuring multiple functions. By including a single, three-dimensionalcamera many of those sensors can be eliminated thereby providing asimpler and more cost effective way to operate the harvester.

FIGS. 1-3 illustrate a harvester 10 having a frame 14, a power unit orengine (not shown) to provide power to the harvester 10, a head unit 22configured to cut and collect crop material 26 from a field or othersupport surface 30, a processing assembly or chopper box 34 to processthe crop material 26 collected by the head unit 22, and an unloadingassembly 38 to unload the processed crop material 26 for subsequentcollection. The harvester 10 also includes a controller 40 having a pairof control sub-assemblies 42 a, 42 b each configured to monitor anddirect the various harvesting operations of the harvester 10. In theillustrated implementation, the harvester 10 is a sugarcane harvesteralthough the control sub-assemblies 42 a, 42 b may be retrofit to anytype or style of harvester.

In the illustrated implementation, the frame 14 of the harvester 10includes a first or forward end 46 generally aligned with the directionof travel A, and a second or rear end 50 opposite the forward end 46.The frame 14 also includes a drive assembly 54 such as a plurality ofwheels or a track coupled to the frame 14 and configured to support theframe 14 for travel over the support surface 30. As shown in FIGS. 1-3,the frame 14 also establishes a first, three-dimensional frame ofreference 56 fixed relative thereto.

Illustrated in FIGS. 2 and 3, the harvester 10 also defines a cuttingpath 58 and a pair of flanking areas 62 a, 62 b adjacent to the cuttingpath 58. For the purposes of this application, the cutting path 58includes the region projecting outwardly from the forward end 46 of theframe 14 that is limited on either side by the cutting width 66 of thehead unit 22 (e.g., is positioned between the two crop dividers 70,described below). The flanking areas 62 a, 62 b, in contrast, projectoutwardly from the forward end 46 and are positioned outside the cuttingpath 58 (e.g., is positioned outside the two crop dividers 70, describedbelow).

The head unit 22 of the harvester 10 is coupled to the forward end 46 ofthe frame 14 and is configured to cut and collect crop material 26positioned in the cutting path 58 (described above). The head unit 22includes a pair of crop dividers 70, one or more scrolls 74 coupled tothe crop dividers 70, knock down rollers 78, a pair of base cutters (notshown), side knives (not shown), and a topper unit 88. The head unit 22also defines the cutting width 66 defined as the distance between thetwo crop dividers 70 (see FIGS. 2 and 3).

During use, the head unit 22 is adjustable between an activatedconfiguration, in which the head unit 22 receives an input (e.g.,torque) from the power unit and is configured to actively cut andcollect the crop material 26 in the cutting path 58 as the harvester 10travels in the direction of travel A (e.g., the power unit is drivingthe elements of the head unit 22), and a deactivated configuration, inwhich the head unit 22 does not receive input from the power unit and isnot configured to actively cut and collect the crop material 26 (e.g.,the power unit is not driving the elements of the head unit 22). Assuch, the head unit 22 places a vastly increased load on the power unitwhen it is in the activated configuration.

Each crop divider 70 of the head unit 22 includes a substantiallyupright oriented wall configured to separate the crop material 26positioned within the cutting path 58 (e.g., the items that will beprocessed by the head unit 22) from the crop material 26 that ispositioned outside the cutting path 58 and in the adjacent regions 62 a,62 b (e.g., crop material 26 that will not be processed by the head unit22). During use, the position of the crop dividers 70 may be varied toadjust the cutting width 66 (e.g., the distance between the two cropdividers 70), and/or the cutting height 86 (e.g., the distance betweenthe crop divider 70 and the support surface 30; see FIG. 1). Morespecifically, the crop dividers 70 may be adjustable between a deployedconfiguration, in which the crop dividers 70 are positioned proximatethe support surface 30 and are in selective contact therewith, and aretracted or stowed configuration, in which the crop dividers 70 arespaced away from and do not contact the support surface 30.

In some implementations, the crop dividers 70 may include “floating”crop dividers where the crop dividers 70 are configured to move freelyalong the support surface 30 and compensate for changes in the contourthereof. In such implementations, the crop dividers 70 are adjustablebetween a deployed configuration, in which the crop dividers 70 areactively “floating” along the support surface 30, and a stowedconfiguration, in which the crop dividers are retracted away from andout of engagement with the support surface 30.

Each scroll 74 of the head unit 22 is rotatably coupled to acorresponding crop divider 70 and includes a substantially cylindricalbody 90 with one or more spiral-shaped fins 94 extending therefrom.During use, each scroll 74 rotates relative to the crop dividers 70 andis configured to engage and manipulate the crop material 26 as it comesinto contact therewith. In particular, each scroll 74 is generallyconfigured to bias the crop material 26 into a generally uprightorientation and, in some instances, direct the crop material 26 inwardlytoward the knockdown rollers 78. Each scroll 74 is adjustable between anactivated configuration, in which the scroll 74 receives input from thepower unit 18 and rotates with respect to the head unit 22, and adeactivated configuration, in which the scroll 74 does not receive aninput from the power unit 18 and therefore does not rotate with respectto the head unit 22. In the illustrated implementation, the head unit 22includes an inner set of scrolls 74 a, and an exterior set of scrolls 74b. However, in alternative implementation more or fewer scrolls 74 maybe present.

The topper unit 88 of the head unit 22 is coupled to the frame 14 of theharvester 10 and configured to cut the crop material 26 at a preselectedcutting height 86 from the support surface 30. More specifically, thetopper 88 is configured to remove leafy material 116 from the tops ofthe stalks 28. As such, the topper 88 is coupled to the harvester 10such that the cutting height 86 can be adjusted to accommodate cropmaterial 26 having different heights.

Illustrated in FIGS. 1-14, the unloading assembly 38 of the harvester 10includes a base 100 fixedly coupled to the rear end 50 of the frame 14,a first axis 104 defined by the base 100, an elevator 108 pivotablycoupled to the base 100 for rotation about the first axis 104, and amaterial outlet 112 at least partially defined by the elevator 108.During use, the unloading assembly 38 receives processed crop material26 from the processing assembly 34, separates leafy material 116 fromthe crop material 26, and unloads the remaining crop material 26(generally in the form of shortened lengths or billets of stalk 28) viathe material outlet 112. Once separated, the unloading assembly 38 isalso configured to unload the leafy material 116 via a primary and asecondary extractors 120, 124, described below.

The elevator 108 of the unloading assembly 38 includes an elongated body128 having a first end 132 pivotably coupled to the base 100, a secondend 136 opposite the first end 132 that at least partially defines thematerial outlet 112, and a bin flap 114 positioned within the materialoutlet 112 to help direct the crop material 26 being unloaded therefrom.The elevator 108 also includes a conveyor 140 extending the length ofthe body 128 that is configured to convey crop material 26 from thefirst end 132, toward the second end 136, and out the material outlet112.

In the illustrated implementation, the first axis 104 is substantiallyvertical (i.e., normal to the support surface 30) such that rotation ofthe elevator 108 about the first axis 104 causes the second end 136 ofthe elevator 108 to move along a substantially arcuate path in which thesecond end 136 maintains a constant distance from the support surface 30(e.g., a constant dump height 144; see FIG. 1). However, in alternativeimplementations the elevator 108 may also include additional degrees offreedom including, but not limited to, pivoting the first end 132 abouta second, horizontal axis (not shown) set perpendicular to the firstaxis 104 to allow the user to adjust the dump height 144 of the materialoutlet 112 by changing the vertical angle 118 of the body 128 of theconveyor 108. In still other implementations, the elevator body 128 maybe formed from multiple segments (not shown) to allow even moreflexibility in the unloading operation.

During use, the elevator 108 is continuously rotatable relative to thebase 100 about the first axis 104 between a plurality of differentunload positions. More specifically, the elevator 108 is rotatablebetween a first position, in which the elevator 108 forms a first dumpangle 148 a with respect to the frame 14 of approximately 90 degrees(thereby generally positioning the material outlet 112 on the starboardside of the harvester 10, not shown), a second position, in which theelevator 108 forms a second dump angle 148 b with respect to the frame14 of approximately 180 degrees (thereby generally positioning thematerial outlet 112 near the rear end 50 the harvester 10), and a thirdposition, in which the elevator 108 forms a third dump angle 148 c withrespect to the frame 14 of approximately 270 degrees (thereby generallypositioning the material outlet 112 on the port side of the harvester10). For the purposes of this application, the dump angle 148 of theelevator 108 includes the angle formed about the first axis 104 betweena first ray substantially aligned with the direction of travel A, and asecond ray extending along the body 128 of the elevator 108 (see FIGS. 2and 3).

The unloading assembly 38 also includes a primary extractor 120configured to unload the leafy material 116 separated from the cropmaterial 26 during processing. In the illustrated implementation, theprimary extractor 120 includes a first chute 152 that is rotatable withrespect to the base 100 independently of the elevator 108 about thefirst axis 104, and a primary fan (not shown) to direct the flow ofleafy material 116 through the chute 152.

The discharge assembly 38 also includes a secondary extractor 124coupled to the elevator 108 proximate the second end 136 thereof. Thesecondary extractor 124 is configured to discharge any remaining leafymaterial 116 positioned on the conveyor 140 before reaching the materialoutlet 112. In the illustrated implementation, the secondary extractor124 includes a second chute 160 that is rotatable with respect to theelevator 108, and a secondary fan (not shown) to direct the flow ofleafy material 116 through the chute 160.

Illustrated in FIGS. 1-3, the controller 40 of the harvester 10 includesa first control sub-assembly 42 a, generally directed toward the controlof the unload assembly 38, and a second control sub-assembly 42 b,generally directed toward the control of the head unit 22. While theillustrated implementation includes two sub-assemblies 42 a, 42 b eachconfigured to operate specific systems of the harvester 10, it is to beunderstood that more or fewer sub-assemblies may be present.

The first control sub-assembly 42 a of the harvester 10 includes aprocessor 168, a memory unit 172 in operable communication with theprocessor 168, and a mono-camera 176 (e.g., a two-dimensional camera)sending and receiving signals from the processor 168. The processor 168may also be in operable communication with various elements of theharvester 10 such as the unload assembly 38, the head unit 22, and theprocessing unit 34. During use, the processor 168 receives signals fromthe mono-camera 176 and enters that information into one or more controlalgorithms to calculate the position of one or more elements of theunload assembly 38 within the three-dimensional space of the firstreference frame 56.

In particular, the harvester 10 includes a mono-camera 176 coupled tothe frame 14 of the harvester 10 that defines a first field of view 180(see FIGS. 2 and 3). In the illustrated implementation, the camera 176is mounted proximate the forward end 46 of the frame 14 and is orientedin a substantially rearward direction such that the first field of view180 at least partially includes the elevator 108 of the dischargeassembly 38 therein (see FIGS. 4-14). Furthermore, the camera 176 ismounted such that that the distance and orientation between the camera176 and the base 100 of the unload assembly 38 is fixed and known. Inalternative implementations, the distance and orientation between thecamera 176 and the base 100 of the discharge assembly 38 may beadjustable; however in such implementations, the adjustments arerecorded by one or more sensors (not shown) in operable communicationwith the processor 168.

During the harvesting process, the mono-camera 176 conveys a series ofimages to the processor 168 where each image includes a two-dimensionalrepresentation of the first field of view 180 (see FIGS. 4-14). Afterreceiving the raw image data, the processor 168 is configured to locatethe presence of a reference point 184 within each image using at leastone of vision based target detection, trained neural networks, texturerecognition, and the like. The reference point 184, in turn, includes atarget fixedly coupled to or applied on the item being tracked by thecamera 176 (e.g., the body 128 of the elevator 108). In the illustratedimplementation, the target includes a unique color combination orpattern that allows the camera 176 and processor 168 to more easilydetect and track the reference point 184 in a variety of atmospheric andlighting conditions. However, in alternative implementations, thereference point 184 may include a specific location on the item itselfthat the camera software is trained to recognize (e.g., the location ofa specific bolt, outlet, and the like).

Although not illustrated, more than one reference point 184 may be usedin instances where redundancy, additional data, or more than one item isto be tracked. In such implementations, each reference point 184 may beunique in some way (e.g., having a unique pattern, indicia, color,shape, and the like) to allow the processor 168 to distinguish betweeneach individual reference point.

After identifying the reference point 184 within a particular image, theprocessor 168 establishes the position or coordinates of the referencepoint 184 relative to a second, two-dimensional reference frame 188overlaid onto the images of the first field of view 180. By repeatingthis process for multiple, subsequent images, the processor 168 is ableto track and record the movements of the reference point 184 relative tothe second reference frame 188.

With the location of the reference point 184 established relative to thesecond, two-dimensional reference frame 188, the processor 168 thenenters the location data into a position algorithm that, in turn,outputs the three-dimensional location of the reference point 184relative to the first, three-dimensional reference frame 56 establishedby the frame 14 of the harvester 10. To do so, the control algorithmtakes into account, among other things, the known location andorientation of the camera 176 relative to the base 100 of the dischargeassembly 38, the location where the reference point 184 is fixed to theelevator body 128, and the known movement characteristics of theelevator 108 itself. Using this information, the processor 168 is ableto establish a function that associates a unique three-dimensionallocation within the first reference frame 56 for each possible referencepoint 184 location within the second reference frame 188. Still further,the processor 168 is then able to determine the current operatingparameters of the elevator 108 (e.g., the current dump height 144 anddump angle 148) based on the location of the reference point 184 inthree-dimensional space. As such, the processor 168 is able to calculatethe current dump angle 148 and dump height 144 of the elevator 108 usingonly a two-dimensional input.

While the above described control sub-assembly 42 a is configured tocalculate the operating parameters of the elevator 108, the controlassembly 42 a may also be used to track the location of additionalelements of the harvester 10. For example, the control assembly 42 a maybe used to track the primary extractor 120, the secondary extractor 124,the bin flap 114, and the like. In each instance, additional referencepoints (not shown) may be coupled to the relevant elements to allow theprocessor 168 to monitor and track the movement of each elementindividually. In still other implementations, the processor 168 may usethe calculated location of a first item as an input to calculate thelocation of a second item that is dependent on the first item'slocation. For example, the processor 168 may use the location of a firstreference point 184 coupled to the elevator 108 to calculate the currentlocation of the elevator 108, and then use the elevator's location as aninput to further calculate the location and orientation of the secondaryextractor 124 using a second reference point (not shown) coupledthereto.

In addition to tracking the location of elements directly mounted to theharvester 10, the processor 168 of the first control assembly 41 a mayalso apply vision based target detection, trained neural networks,texture recognition, and the like to the images produced by themono-camera 176 to detect the presence or absence of items not directlyattached to the harvester 10. For example, the processor 168 may beconfigured to detect and recognize the presence of a haulout 192 withinthe first field of view 180. Still further, the processor 168 may alsous vision based target detection, trained neural networks, texturerecognition, and the like to determine when the haulout 192 is properlypositioned alongside the harvester 10 and ready to receive crop material26 therein. In still other implementations, the processor 168 may beconfigured to detect when the haulout 192 is empty or full of cropmaterial 26.

In addition to the above described detection capabilities, the controlsub-assembly 41 a may also use the calculated information to automateportions of unloading and harvesting processes. For example, theprocessor 168 may be configured to start and stop the unloading processbased at least in part on the detection that the haulout 192 ispositioned within the first field of view 180. Still further, theprocessor 168 may start or stop the unloading process based at least inpart on whether the haulout 192 is full or empty. Still further, theprocessor 168 may be configured to rotate the elevator 108 to apredetermined dump angle 148 based at least in part on the presence orabsence of a haulout 192 on a particular side of the harvester 10. Instill other implementations, the processor 168 may be configured toadjust the operation of the primary and secondary extractors 120, 124.

While the illustrated sub-assembly 42 a includes a single camera. It isto be understood that in alternative implementations that more than onecamera may be used, each having a unique field of view. In suchimplementations, the processor 168 may be configured to track thereference point as it moves from the field of view of one camera to thefield of view of another camera.

Illustrated in FIG. 1, the second control sub-assembly 42 b of theharvester 10 includes a three-dimensional camera 196 configured to sendand receive signals with the processor 168. During use, the processor168 receives signals from the camera 196 and enters the correspondinginformation into one or more control algorithms to determine thepresence, location, and attributes of any crop material 26 positionedahead of the harvester 10 (i.e., adjacent to the forward end 46).

More specifically, the harvester 10 includes a three-dimensional camera196 coupled to the frame 14 of the harvester 10 that defines a secondfield of view 200 (see FIGS. 2 and 3). In the illustratedimplementation, the camera 196 is mounted proximate the forward end 46of the frame 14 and is oriented in a substantially forward directionsuch that the second field of view 200 at least partially includes thehead unit 22, the cutting path 58, and the flanking areas 62 a, 62 btherein. In the illustrated implementation, the camera 196 is athree-dimensional or stereo style camera able to outputthree-dimensional representations of the second field of view 200. Inalternative implementations, the camera 196 may include LIDAR,structured light, stereo vision, RADAR, and other knownthree-dimensional camera systems.

The detected “attributes” of the crop material 26 may include, amongother things, the lay orientation 204, the lay angle 208, and the stalkheight 212 (see FIGS. 1-3). For the purposes of this application, thelay angle 208 of the crop material 26 includes the angle formed betweenthe stalk 28 of the crop material 26 and the support surface 30 and isconfigured to quantify how “upright” the stalk 28 is standing relativethereto. For example, a stalk 28 lying flat on the support surface 30defines a lay angle 208 of 0 degrees while a stalk 28 standing perfectlyupright defines a lay angle 208 of 90 degrees. Furthermore, the layorientation 204 of the crop material 26 includes the angle formedbetween the vertical projection of the stalk 28 onto the support surface40 and the direction of travel A (see FIGS. 2 and 3). The layorientation 204 is configured to measure the direction in which thestalk 28 of the crop material 26 is tilted. For example, a stalk 28 thatis tilted parallel to the direction of travel A defines a layorientation 204 of 0 degrees while a stalk 28 that is angled toward theport side of the harvester 10 (as shown in FIGS. 2 and 3) defines anegative lay orientation 204. While not shown, a stalk 28 that is angledtoward the starboard side of the harvester 10 defines a positive layorientation 204. Finally, the stalk height 212 of the crop material 26includes the length of the stalks 28 of the crop material 26. Forexample, FIG. 15 illustrates crop material having a −90 degree layorientation 204 and a 0 degree lay angle 208.

During the harvesting process, the stereo-camera 196 conveys acontinuous series of images to the processor 168 where each imageincludes a three-dimensional representation of the second field of view180. After receiving the raw data, the processor 168 is configured toapply vision based target detection, trained neural networks, texturerecognition, and the like to the images to extract data therefrom. Inthe illustrated implementation, the processor 168 is configured to firstdetect the presence or absence of crop material 26 in the cutting path58, the first flanking area 62 a, and the second flanking area 62 b. Inthe areas where crop material 26 is present, the processor 168 is thenconfigured to determine, among other things, the lay orientation 204,the lay angle 208, and the stalk height 212 of the crop material 26contained therein.

With the general attributes of the crop material 26 detected, theprocessor 168 than inputs the information into one or more controlalgorithms to dictate the parameters of the harvesting operation. Forexample, the processor 168 is configured to adjust the cutting height 86of the topper 88 based at least in part on the stalk height 212 and/orthe lay angle 208 of the crop material 26 positioned within the cuttingpath 58. Still further, the processor 168 is also configured to turn thetopper 88 on and off based at least in part on the presence or absenceof crop material in the cutting path 58.

With respect to the elevator 108, the processor 168 is configured toadjust the dump angle 104 of the elevator 108 based at least in part onthe absence or presence of crop material 26 in each of the flankingareas 62 a, 62 b. More specifically, the processor 168 is configured toadjust the dumping angle 148 of the elevator 108 so that the materialoutlet 112 is positioned on the side of the harvester 10 where no cropmaterial 26 is present.

With respect to the crop dividers 70, the processor 168 is configured toadjust the crop dividers 70 between the deployed and retractedconfigurations based at least in part on the presence or absence of cropmaterial 26 in the cutting path 58. In some implementations, theprocessor 168 may only disengage the crop divider 70 adjacent theflanking area 62 a, 62 b where no crop material 26 is present whilemaintaining the crop divider 70 positioned adjacent the flaking area 62a, 62 b where crop material 26 is present in the engaged configuration.In still further implementations, the processor 168 is configured todisengage the crop dividers 70 if the lay angle 208 of the crop material26 exceeds a predetermined threshold (e.g., the crop material 26 issufficiently “upright” to not require crop dividers 70).

Still further, the processor 168 may be configured to adjust the headunit 22 as a whole between the activated and deactivated configurationsbased at least in part on the presence or absence of crop material 26 inthe cutting path 58. While not listed specifically, it is alsounderstood that the processor 168 may adjust or modify the operatingparameters of any of the elements of the head unit 22, processingassembly 34, or unloading assembly 38 at least partially based on thedetected attributes of the crop material 26 positioned within the secondfield of view 180 to harvest the crop material 26 in the most efficientmanner possible and while minimizing wear on the individual parts of thehead unit 22 and fuel consumption by the power unit.

The invention claimed is:
 1. A harvester comprising: a frame supportedby a drive assembly for movement along a support surface; a head unitcoupled to the harvester and configured to selectively harvest cropmaterial; a camera coupled to the frame and configured to generate oneor more images of a field of view; and a controller in operablecommunication with the camera and the head unit, wherein the controlleris configured to determine one or more crop attributes based at least inpart on the one or more images produced by the camera, and wherein thecontroller is configured to adjust the head unit between an activatedconfiguration and a deactivated configuration based at least in part onthe one or more crop attributes.
 2. The harvester of claim 1, whereinthe images include a three-dimensional representation of the field ofview.
 3. The harvester of claim 1, wherein the one or more cropattributes include at least one of the lay orientation, the lay angle,and the stalk height.
 4. The harvester of claim 1, wherein the one ormore crop attributes include at least one of the presence or absence ofcrop material.
 5. The harvester of claim 4, wherein the head unitdefines a cutting path, and wherein the one or more crop attributesincludes the presence or absence of crop material within the cuttingpath.
 6. The harvester of claim 5, wherein the controller adjusts thehead unit between an activated configuration and a deactivatedconfiguration based at least in part on the absence or presence of cropmaterial in the cutting path.
 7. The harvester of claim 1, wherein thehead unit includes one or more crop dividers, and wherein the controlleris configured to adjust the crop dividers between a deployedconfiguration and a retracted configuration based at least in part onthe one or more crop attributes.
 8. The harvester of claim 1, whereinthe head unit includes a topper defining a cutting height, and whereinthe controller is configured to adjust the cutting height based at leastin part on the one or more attributes of the crop material.
 9. Theharvester of claim 1, wherein the camera is one of a LIDAR, a structuredlight, a RADAR, and a stereo vision unit.